\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver}{
\section{Zebulon::Underwater::GlobalVectorDriver Class Reference}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver}\index{Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}}
}


Global Vector Driver Component for Underwater team vehicle.  


{\ttfamily \#include $<$globalvectordriver.h$>$}\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_a47525a64a57a7b88fcecf45f0a63492b}{
\hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_a47525a64a57a7b88fcecf45f0a63492b}{GlobalVectorDriver} ()}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_a47525a64a57a7b88fcecf45f0a63492b}

\begin{DoxyCompactList}\small\item\em Constructor, sets initial values. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_ad2774d55827feed28eb9dda9663afbf6}{
\hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_ad2774d55827feed28eb9dda9663afbf6}{$\sim$GlobalVectorDriver} ()}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_ad2774d55827feed28eb9dda9663afbf6}

\begin{DoxyCompactList}\small\item\em Destructor. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_a4a71e4fae8b718cafeeb2f3d2e505e99}{Standby} ()
\begin{DoxyCompactList}\small\item\em When the vehicle is put into Standby mode, this method is called. \item\end{DoxyCompactList}\item 
virtual Jaus::Byte \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_af82c053b2534add44d7d8f0928d97915}{GetSetGlobalVectorPresenceVector} () const 
\begin{DoxyCompactList}\small\item\em Gets the presence vector which indicates what fields of the Set Global Vector message this Global Vector Driver supports. \item\end{DoxyCompactList}\item 
virtual Jaus::UShort \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_ac7a34c1737b19e566345298a0985b36f}{GetSetWrenchEffortPresenceVector} () const 
\begin{DoxyCompactList}\small\item\em Gets the presence vector which indicates what fields of the Set Wrench Effort message this Global Vector Driver uses. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_a1880e3a88453c9502cc2b670c7b3e937}{GenerateWrench} (const Jaus::SetGlobalVector \&command, Jaus::SetWrenchEffort \&wrench)
\begin{DoxyCompactList}\small\item\em Every time a new wrench message needs to be generated, based on the periodic update rate of this component, this method is called. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_abae41fc65e7e9a7ed567e14b18d9d5c9}{
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_abae41fc65e7e9a7ed567e14b18d9d5c9}{PrintCurrentVector} () const }
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_abae41fc65e7e9a7ed567e14b18d9d5c9}

\begin{DoxyCompactList}\small\item\em Prints current heading to the console. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Protected Attributes}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_a928ebbb8130de57d8bc502b98af3f226}{
CxUtils::PIDController \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_a928ebbb8130de57d8bc502b98af3f226}{mHeadingController}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_a928ebbb8130de57d8bc502b98af3f226}

\begin{DoxyCompactList}\small\item\em PID for heading \hyperlink{structcontrol}{control}. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_aac925e90f4743f534d6e9e9c2e1510f0}{
CxUtils::PIDController \hyperlink{class_zebulon_1_1_underwater_1_1_global_vector_driver_aac925e90f4743f534d6e9e9c2e1510f0}{mAltitudeController}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_aac925e90f4743f534d6e9e9c2e1510f0}

\begin{DoxyCompactList}\small\item\em PID for heading \hyperlink{structcontrol}{control}. \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
Global Vector Driver Component for Underwater team vehicle. 

\subsection{Member Function Documentation}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_a1880e3a88453c9502cc2b670c7b3e937}{
\index{Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}!GenerateWrench@{GenerateWrench}}
\index{GenerateWrench@{GenerateWrench}!Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}}
\subsubsection[{GenerateWrench}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalVectorDriver::GenerateWrench (const Jaus::SetGlobalVector \& {\em command}, \/  Jaus::SetWrenchEffort \& {\em wrench})\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_a1880e3a88453c9502cc2b670c7b3e937}


Every time a new wrench message needs to be generated, based on the periodic update rate of this component, this method is called. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em command}]Set Global Vector to generate a wrench effort for. \item[\mbox{$\rightarrow$} {\em wrench}]Output parameter which is the wrench effort to send to the Primitive Driver.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
JAUS\_\-OK on success, otherwise JAUS\_\-FAILURE. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_af82c053b2534add44d7d8f0928d97915}{
\index{Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}!GetSetGlobalVectorPresenceVector@{GetSetGlobalVectorPresenceVector}}
\index{GetSetGlobalVectorPresenceVector@{GetSetGlobalVectorPresenceVector}!Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}}
\subsubsection[{GetSetGlobalVectorPresenceVector}]{\setlength{\rightskip}{0pt plus 5cm}Jaus::Byte GlobalVectorDriver::GetSetGlobalVectorPresenceVector () const\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_af82c053b2534add44d7d8f0928d97915}


Gets the presence vector which indicates what fields of the Set Global Vector message this Global Vector Driver supports. \begin{DoxyReturn}{Returns}
Presence Vector indicating fields for the Set Global Vector message supported by this component. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_ac7a34c1737b19e566345298a0985b36f}{
\index{Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}!GetSetWrenchEffortPresenceVector@{GetSetWrenchEffortPresenceVector}}
\index{GetSetWrenchEffortPresenceVector@{GetSetWrenchEffortPresenceVector}!Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}}
\subsubsection[{GetSetWrenchEffortPresenceVector}]{\setlength{\rightskip}{0pt plus 5cm}Jaus::UShort GlobalVectorDriver::GetSetWrenchEffortPresenceVector () const\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_ac7a34c1737b19e566345298a0985b36f}


Gets the presence vector which indicates what fields of the Set Wrench Effort message this Global Vector Driver uses. Since this component is driving the primitive driver of \hyperlink{namespace_gamblore}{Gamblore}, it outputs Wrench Effort messages supported by the \hyperlink{namespace_gamblore}{Gamblore} Primitive Driver.

\begin{DoxyReturn}{Returns}
Presence Vector indicating fields for the Set Wrench Effort message output by this component. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_vector_driver_a4a71e4fae8b718cafeeb2f3d2e505e99}{
\index{Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}!Standby@{Standby}}
\index{Standby@{Standby}!Zebulon::Underwater::GlobalVectorDriver@{Zebulon::Underwater::GlobalVectorDriver}}
\subsubsection[{Standby}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalVectorDriver::Standby ()\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_vector_driver_a4a71e4fae8b718cafeeb2f3d2e505e99}


When the vehicle is put into Standby mode, this method is called. This function resets the closed loop controller values, then calls the Standby function of the parent class.

\begin{DoxyReturn}{Returns}
JAUS\_\-OK on success, otherwise JAUS\_\-FAILURE. 
\end{DoxyReturn}


The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/underwater/include/underwater/globalvectordriver.h\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/underwater/src/underwater/globalvectordriver.cpp\end{DoxyCompactItemize}
